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1. KR1020200096726 - 자율 주행 차량을 위한 맵 파티셔닝 시스템

Office
Republic of Korea
Application Number 1020197036994
Application Date 30.01.2019
Publication Number 1020200096726
Publication Date 13.08.2020
Grant Number 102334641
Grant Date 03.12.2021
Publication Kind B1
IPC
G06T 17/05
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
173D modelling for computer graphics
05Geographic models
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems, specially adapted for specific applications
89for mapping or imaging
G06T 5/00
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
G06T 7/11
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
CPC
G06T 17/05
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
17Three dimensional [3D] modelling, e.g. data description of 3D objects
05Geographic models
B60W 40/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
40Estimation or calculation of ; non-directly measurable; driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, ; e.g. by using mathematical models
02related to ambient conditions
06Road conditions
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
G06T 5/002
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
001Image restoration
002Denoising; Smoothing
G06T 7/11
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
11Region-based segmentation
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
Applicants 바이두닷컴 타임즈 테크놀로지(베이징) 컴퍼니 리미티드
바이두 유에스에이 엘엘씨
Inventors 유안, 펑페이
쌰오, 용
허, 룬신
유, 리
송, 시웨
Agents 특허법인(유한) 대아
Title
(KO) 자율 주행 차량을 위한 맵 파티셔닝 시스템
Abstract
(KO) 일 실시형태에서, 시스템은 ADV에 의해 안내되는 도로를 식별하되, 상기 도로는, 하나 이상의 LIDAR 센서로부터의 하나 이상의 포인트 클라우드에 의해 포착된 것이다. 시스템은 포인트 클라우드로부터 식별된 도로의 도로 표시 정보를 추출하되, 상기 도로 표시 정보는 식별된 도로의 하나 이상의 도로 표시를 나타내는 정보이다. 시스템은 도로 표시에 기초하여 도로를 하나 이상의 도로 구획으로 파티셔닝한다. 시스템은 도로 파티션들에 기초하여 포인트 클라우드 맵을 생성하되, 상기 포인트 클라우드 맵을 이용하여 ADV 주위의 운전 환경을 인식한다.